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<div class="title">batch_stats.h</div>  </div>
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<a href="batch__stats_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_BATCH_STATS_H_</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_BATCH_STATS_H_</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html">   39</a></span>&#160;  <span class="keyword">struct  </span><a class="code" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a> {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a99b348cf1d6a913ab6683c44b36a8c55">G2OBatchStatistics</a>();</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a63e30077b9dad65c321b322a2a6f0aea">   41</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a63e30077b9dad65c321b322a2a6f0aea">iteration</a>;                    </div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a2a3ecd684cb9e60c34afeee0d8f35d23">   42</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a2a3ecd684cb9e60c34afeee0d8f35d23">numVertices</a>;                  </div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#ae8924cd0e0e7fee183cba73b706eb5a5">   43</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#ae8924cd0e0e7fee183cba73b706eb5a5">numEdges</a>;                     </div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a719152d550dd4fe3300d06558fe0a6d5">   44</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a719152d550dd4fe3300d06558fe0a6d5">chi2</a>;                      </div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="comment">// nonlinear part</span></div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a1815f0fb0a84cd1977d72c83cefdb76b">   48</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a1815f0fb0a84cd1977d72c83cefdb76b">timeResiduals</a>;             </div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#ac288190f875b8777b3c24c860a3741d7">   49</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#ac288190f875b8777b3c24c860a3741d7">timeLinearize</a>;             </div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#af949afd7e25ceef08379220ed242aa36">   50</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#af949afd7e25ceef08379220ed242aa36">timeQuadraticForm</a>;         </div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#acd6b82e7401ec8c04e00b14bf76892a9">   51</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#acd6b82e7401ec8c04e00b14bf76892a9">levenbergIterations</a>;          </div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="comment">// block_solver (constructs Ax=b, plus maybe schur)</span></div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a79d8935c9af46d716ef2b85b777fabe1">   53</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a79d8935c9af46d716ef2b85b777fabe1">timeSchurComplement</a>;      </div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="comment">// linear solver (computes Ax=b);</span></div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a456a521ccb1e4c69940475a92a1f5d29">   56</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a456a521ccb1e4c69940475a92a1f5d29">timeSymbolicDecomposition</a>; </div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a31f4a361dba1f3eb8dba2ca2aa326905">   57</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a31f4a361dba1f3eb8dba2ca2aa326905">timeNumericDecomposition</a>;  </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a01fea9876aab94b1e69a6a03c20fd98f">   58</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a01fea9876aab94b1e69a6a03c20fd98f">timeLinearSolution</a>;        </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#adb423c3dac9262b7f4a315bbb108464a">   59</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#adb423c3dac9262b7f4a315bbb108464a">timeLinearSolver</a>;          </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a0ef94423b56f6d842e33a7c277c930a0">   60</a></span>&#160;    <span class="keywordtype">int</span>    <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a0ef94423b56f6d842e33a7c277c930a0">iterationsLinearSolver</a>;    </div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a510e287e5a3e1f608219147b53e6dc69">   61</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a510e287e5a3e1f608219147b53e6dc69">timeUpdate</a>;                </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a60fbec94ce0b7f26ed99d3f6d2080e47">   62</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a60fbec94ce0b7f26ed99d3f6d2080e47">timeIteration</a>;             </div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a58e5d0960dc35e682424dce2b50e4fa9">   64</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a58e5d0960dc35e682424dce2b50e4fa9">timeMarginals</a>;             </div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">// information about the Hessian matrix</span></div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a618a15ba153da1a99b19a2d779cf3764">   67</a></span>&#160;    <span class="keywordtype">size_t</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a618a15ba153da1a99b19a2d779cf3764">hessianDimension</a>;          </div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#ae2af64720e3f99557924b9cf92ab6f20">   68</a></span>&#160;    <span class="keywordtype">size_t</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#ae2af64720e3f99557924b9cf92ab6f20">hessianPoseDimension</a>;      </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a0cfa7018402074f47defb9cd5d9d4b64">   69</a></span>&#160;    <span class="keywordtype">size_t</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a0cfa7018402074f47defb9cd5d9d4b64">hessianLandmarkDimension</a>;  </div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a5996c5ba000bdfcbcf5c0375a3c62643">   70</a></span>&#160;    <span class="keywordtype">size_t</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a5996c5ba000bdfcbcf5c0375a3c62643">choleskyNNZ</a>;               </div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#a06f9c667d8b48b8f0023e27011818b64">   72</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a>* <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a06f9c667d8b48b8f0023e27011818b64">globalStats</a>() {<span class="keywordflow">return</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#ab2afc355eadf0e686507ff621f60d3eb">_globalStats</a>;}</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a8c56e85d25e346ba87718621407247fc">setGlobalStats</a>(<a class="code" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a>* b);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structg2o_1_1_g2_o_batch_statistics.html#ab2afc355eadf0e686507ff621f60d3eb">   75</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a>* <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#ab2afc355eadf0e686507ff621f60d3eb">_globalStats</a>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  };</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;   std::ostream&amp; <a class="code" href="namespaceg2o.html#a018b0f839c5efbe3cfadca1e136f7a97">operator&lt;&lt;</a>(std::ostream&amp;, <span class="keyword">const</span> <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a>&amp;);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a526b32fde21f83173acb2bb29db68275">   80</a></span>&#160;  <span class="keyword">typedef</span> std::vector&lt;G2OBatchStatistics&gt; <a class="code" href="namespaceg2o.html#a526b32fde21f83173acb2bb29db68275">BatchStatisticsContainer</a>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a31f4a361dba1f3eb8dba2ca2aa326905"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a31f4a361dba1f3eb8dba2ca2aa326905">g2o::G2OBatchStatistics::timeNumericDecomposition</a></div><div class="ttdeci">double timeNumericDecomposition</div><div class="ttdoc">numeric decomposition (0 if not done) </div><div class="ttdef"><b>Definition:</b> batch_stats.h:57</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a60fbec94ce0b7f26ed99d3f6d2080e47"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a60fbec94ce0b7f26ed99d3f6d2080e47">g2o::G2OBatchStatistics::timeIteration</a></div><div class="ttdeci">double timeIteration</div><div class="ttdoc">total time; </div><div class="ttdef"><b>Definition:</b> batch_stats.h:62</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a63e30077b9dad65c321b322a2a6f0aea"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a63e30077b9dad65c321b322a2a6f0aea">g2o::G2OBatchStatistics::iteration</a></div><div class="ttdeci">int iteration</div><div class="ttdoc">which iteration </div><div class="ttdef"><b>Definition:</b> batch_stats.h:41</div></div>
<div class="ttc" id="namespaceg2o_html_a018b0f839c5efbe3cfadca1e136f7a97"><div class="ttname"><a href="namespaceg2o.html#a018b0f839c5efbe3cfadca1e136f7a97">g2o::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const G2OBatchStatistics &amp;st)</div><div class="ttdef"><b>Definition:</b> batch_stats.cpp:48</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a719152d550dd4fe3300d06558fe0a6d5"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a719152d550dd4fe3300d06558fe0a6d5">g2o::G2OBatchStatistics::chi2</a></div><div class="ttdeci">double chi2</div><div class="ttdoc">total chi2 </div><div class="ttdef"><b>Definition:</b> batch_stats.h:44</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a618a15ba153da1a99b19a2d779cf3764"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a618a15ba153da1a99b19a2d779cf3764">g2o::G2OBatchStatistics::hessianDimension</a></div><div class="ttdeci">size_t hessianDimension</div><div class="ttdoc">rows / cols of the Hessian </div><div class="ttdef"><b>Definition:</b> batch_stats.h:67</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a79d8935c9af46d716ef2b85b777fabe1"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a79d8935c9af46d716ef2b85b777fabe1">g2o::G2OBatchStatistics::timeSchurComplement</a></div><div class="ttdeci">double timeSchurComplement</div><div class="ttdoc">compute schur complement (0 if not done) </div><div class="ttdef"><b>Definition:</b> batch_stats.h:53</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a01fea9876aab94b1e69a6a03c20fd98f"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a01fea9876aab94b1e69a6a03c20fd98f">g2o::G2OBatchStatistics::timeLinearSolution</a></div><div class="ttdeci">double timeLinearSolution</div><div class="ttdoc">total time for solving Ax=b (including detup for schur) </div><div class="ttdef"><b>Definition:</b> batch_stats.h:58</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html">g2o::G2OBatchStatistics</a></div><div class="ttdoc">statistics about the optimization </div><div class="ttdef"><b>Definition:</b> batch_stats.h:39</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a06f9c667d8b48b8f0023e27011818b64"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a06f9c667d8b48b8f0023e27011818b64">g2o::G2OBatchStatistics::globalStats</a></div><div class="ttdeci">static G2OBatchStatistics * globalStats()</div><div class="ttdef"><b>Definition:</b> batch_stats.h:72</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a99b348cf1d6a913ab6683c44b36a8c55"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a99b348cf1d6a913ab6683c44b36a8c55">g2o::G2OBatchStatistics::G2OBatchStatistics</a></div><div class="ttdeci">G2OBatchStatistics()</div><div class="ttdef"><b>Definition:</b> batch_stats.cpp:40</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a2a3ecd684cb9e60c34afeee0d8f35d23"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a2a3ecd684cb9e60c34afeee0d8f35d23">g2o::G2OBatchStatistics::numVertices</a></div><div class="ttdeci">int numVertices</div><div class="ttdoc">how many vertices are involved </div><div class="ttdef"><b>Definition:</b> batch_stats.h:42</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_ab2afc355eadf0e686507ff621f60d3eb"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#ab2afc355eadf0e686507ff621f60d3eb">g2o::G2OBatchStatistics::_globalStats</a></div><div class="ttdeci">static G2OBatchStatistics * _globalStats</div><div class="ttdef"><b>Definition:</b> batch_stats.h:75</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a8c56e85d25e346ba87718621407247fc"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a8c56e85d25e346ba87718621407247fc">g2o::G2OBatchStatistics::setGlobalStats</a></div><div class="ttdeci">static void setGlobalStats(G2OBatchStatistics *b)</div><div class="ttdef"><b>Definition:</b> batch_stats.cpp:85</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_af949afd7e25ceef08379220ed242aa36"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#af949afd7e25ceef08379220ed242aa36">g2o::G2OBatchStatistics::timeQuadraticForm</a></div><div class="ttdeci">double timeQuadraticForm</div><div class="ttdoc">construct the quadratic form in the graph </div><div class="ttdef"><b>Definition:</b> batch_stats.h:50</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a0ef94423b56f6d842e33a7c277c930a0"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a0ef94423b56f6d842e33a7c277c930a0">g2o::G2OBatchStatistics::iterationsLinearSolver</a></div><div class="ttdeci">int iterationsLinearSolver</div><div class="ttdoc">iterations of PCG, (0 if not used, i.e., Cholesky) </div><div class="ttdef"><b>Definition:</b> batch_stats.h:60</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a58e5d0960dc35e682424dce2b50e4fa9"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a58e5d0960dc35e682424dce2b50e4fa9">g2o::G2OBatchStatistics::timeMarginals</a></div><div class="ttdeci">double timeMarginals</div><div class="ttdoc">computing the inverse elements (solve blocks) and thus the marginal covariances </div><div class="ttdef"><b>Definition:</b> batch_stats.h:64</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_adb423c3dac9262b7f4a315bbb108464a"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#adb423c3dac9262b7f4a315bbb108464a">g2o::G2OBatchStatistics::timeLinearSolver</a></div><div class="ttdeci">double timeLinearSolver</div><div class="ttdoc">time for solving, excluding Schur setup </div><div class="ttdef"><b>Definition:</b> batch_stats.h:59</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a456a521ccb1e4c69940475a92a1f5d29"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a456a521ccb1e4c69940475a92a1f5d29">g2o::G2OBatchStatistics::timeSymbolicDecomposition</a></div><div class="ttdeci">double timeSymbolicDecomposition</div><div class="ttdoc">symbolic decomposition (0 if not done) </div><div class="ttdef"><b>Definition:</b> batch_stats.h:56</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a0cfa7018402074f47defb9cd5d9d4b64"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a0cfa7018402074f47defb9cd5d9d4b64">g2o::G2OBatchStatistics::hessianLandmarkDimension</a></div><div class="ttdeci">size_t hessianLandmarkDimension</div><div class="ttdoc">dimension of the landmark matrix in Schur </div><div class="ttdef"><b>Definition:</b> batch_stats.h:69</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_acd6b82e7401ec8c04e00b14bf76892a9"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#acd6b82e7401ec8c04e00b14bf76892a9">g2o::G2OBatchStatistics::levenbergIterations</a></div><div class="ttdeci">int levenbergIterations</div><div class="ttdoc">number of iterations performed by LM </div><div class="ttdef"><b>Definition:</b> batch_stats.h:51</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a510e287e5a3e1f608219147b53e6dc69"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a510e287e5a3e1f608219147b53e6dc69">g2o::G2OBatchStatistics::timeUpdate</a></div><div class="ttdeci">double timeUpdate</div><div class="ttdoc">time to apply the update </div><div class="ttdef"><b>Definition:</b> batch_stats.h:61</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_ae2af64720e3f99557924b9cf92ab6f20"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#ae2af64720e3f99557924b9cf92ab6f20">g2o::G2OBatchStatistics::hessianPoseDimension</a></div><div class="ttdeci">size_t hessianPoseDimension</div><div class="ttdoc">dimension of the pose matrix in Schur </div><div class="ttdef"><b>Definition:</b> batch_stats.h:68</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a5996c5ba000bdfcbcf5c0375a3c62643"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a5996c5ba000bdfcbcf5c0375a3c62643">g2o::G2OBatchStatistics::choleskyNNZ</a></div><div class="ttdeci">size_t choleskyNNZ</div><div class="ttdoc">number of non-zeros in the cholesky factor </div><div class="ttdef"><b>Definition:</b> batch_stats.h:70</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a1815f0fb0a84cd1977d72c83cefdb76b"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a1815f0fb0a84cd1977d72c83cefdb76b">g2o::G2OBatchStatistics::timeResiduals</a></div><div class="ttdeci">double timeResiduals</div><div class="ttdoc">timings </div><div class="ttdef"><b>Definition:</b> batch_stats.h:48</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_ac288190f875b8777b3c24c860a3741d7"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#ac288190f875b8777b3c24c860a3741d7">g2o::G2OBatchStatistics::timeLinearize</a></div><div class="ttdeci">double timeLinearize</div><div class="ttdoc">jacobians </div><div class="ttdef"><b>Definition:</b> batch_stats.h:49</div></div>
<div class="ttc" id="namespaceg2o_html_a526b32fde21f83173acb2bb29db68275"><div class="ttname"><a href="namespaceg2o.html#a526b32fde21f83173acb2bb29db68275">g2o::BatchStatisticsContainer</a></div><div class="ttdeci">std::vector&lt; G2OBatchStatistics &gt; BatchStatisticsContainer</div><div class="ttdef"><b>Definition:</b> batch_stats.h:80</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_ae8924cd0e0e7fee183cba73b706eb5a5"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#ae8924cd0e0e7fee183cba73b706eb5a5">g2o::G2OBatchStatistics::numEdges</a></div><div class="ttdeci">int numEdges</div><div class="ttdoc">how many edges </div><div class="ttdef"><b>Definition:</b> batch_stats.h:43</div></div>
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